CN113271905A

CN113271905A - Device for connecting a person's leg to a movement mechanism

Info

Publication number: CN113271905A
Application number: CN201980087823.3A
Authority: CN
Inventors: A·柯尼希; M·格罗塞-东克尔; J·雅恩; R·S·施莱费尔; H·奥施瓦尔德; O·席科尔; M·克斯特尔迈尔
Original assignee: Reaction Robot Technology Co ltd
Current assignee: Reaction Robot Technology Co ltd; Reactive Robotics GmbH
Priority date: 2018-11-23
Filing date: 2019-11-25
Publication date: 2021-08-17
Also published as: WO2020103985A1; JP2022509629A; EP3883517A1; CA3120896A1; KR20210093928A; DE102018129647A1; US20220008281A1; AU2019384301A1

Abstract

The invention relates to a device (1) for connecting a person's leg to a movement mechanism (30), comprising at least: a holding element (11) and a fixing device (13) for fixing a person's leg to the holding element (11), wherein the holding element (11) has at least one connecting element (111) for directly connecting the holding element (11) to the movement mechanism (30). The device (1) according to the invention advantageously allows a simple and quick connection between the user and the device (1), and between the device (1) together with the user and the movement mechanism (30). The device is easy to operate by third parties and the user himself, easy to clean and disinfect, and provides a high level of wearing comfort for the user. The device (1) according to the invention also ensures a controlled transmission of the movement from the movement mechanism (30), in particular to the user's leg, and furthermore can be produced cost-effectively.

Description

Device for connecting a person's leg to a movement mechanism

The present invention relates to a device for connecting a person's leg to a movement mechanism.

A large number of robot-assisted movement mechanisms have been developed in recent years for automated movement of human limbs (in particular in the case of mobilization or rehabilitation measures or during motion-guided training), which makes it possible, for example, to automatically move the legs and/or feet of a person in a controlled manner. For example, DE102015117596B3 discloses a rehabilitation facility for a long-term bedridden patient, a method for controlling the rehabilitation facility, and a bed comprising the rehabilitation facility. WO00/61059a1 discloses a device and a method for an exercise therapy in which a patient is held on a standing table and automatic leg movements are performed by a drive mechanism consisting of a knee part and a foot part for each leg. The knee portions of the drive mechanism are here located below the respective legs of the patient, in particular below the respective knee joints, and the legs are raised or lowered by extension or retraction of the knee portions perpendicular to the plane of the standing table. Finally, WO97/00661a1 discloses an exercise device and method of exercise which allows controlled exercise and support etc. of a patient's leg. To this end, a knee orthosis is disclosed, in particular, whose freedom of movement can be controlled in a therapy-dependent manner.

One of the decisive factors for the success of such automatic motor training is the physical connection of the automatic motor mechanism to the respective person, wherein, in addition to the comfort of the training person or the patient, the simple handling of the training person, the physical therapist and/or the nursing staff, as well as the possibility of a controlled transmission of the movement preset by the motor mechanism to the person (in particular to the outer limbs such as the legs or the arms), play an important role. In particular in the case of intensive care patients who are in long-term bed, the compatibility of such mobilization measures with other medically required treatment devices, such as catheters or measuring lines of diagnostic equipment, is also important. Due to the often complex fitting, leg orthoses known from the prior art for corresponding purposes do not allow a user to be quickly connected to a corresponding movement mechanism in a manner that takes into account the medical condition of the respective patient.

Starting from this, it is an object of the invention to provide a device for connecting a person's leg to a movement mechanism which is improved, in particular simplified, with respect to the prior art and which is easy to handle by the person and third parties of the user under hygienic conditions. The device also provides a high level of comfort and can be produced cost effectively whilst ensuring a controlled transfer of motion from the motion mechanism, in particular to the person's legs.

This object is achieved by a device for connecting a person's leg to a movement mechanism having the features of independent claim 1. Further advantageous embodiments and improvements which can be used alone or in combination with one another are the subject matter of the dependent claims.

The device according to the invention comprises at least one holding element, wherein the holding element has at least one connecting element for directly connecting the holding element to the movement mechanism, and fixing means for fixing the person's leg to the holding element, and is characterized in that the connecting element is designed to allow a rotation of the holding element relative to the longitudinal axis of the connecting element.

The device according to the invention advantageously allows a simple and quick connection between the user and the device, and together with the user, between the device and the movement mechanism. The device is easy to operate by third parties and the user himself, easy to clean and disinfect, and provides a high level of wearing comfort for the user. The device according to the invention also ensures a controlled transmission of the movement from the movement mechanism, in particular to the user's legs, and furthermore can be produced cost-effectively. The rotatability advantageously creates an additional degree of freedom in the connection between the user and the movement mechanism, as a result of which undesirable external forces on the legs or knees of the user can be reduced, which advantageously leads to an improved wearing comfort and a reduced risk of injury. Furthermore, the device can thus be better adapted to the shape of the user's leg (in particular the thigh), and the pressure exerted and/or the force introduced by the device can be distributed in particular uniformly over the entire surface of the thigh. This again advantageously improves wearing comfort and reduces the chance of pressure points appearing on the user's skin.

In a preferred embodiment of the invention, the holding element can be designed at least partially in the shape of an arc with an arc opening opposite the extension of the connecting element, wherein the opening radii (R) of the proximal and distal longitudinal sides of the holding element are_p；R_d) May be equal or different. The retaining element is designed at least partially in the shape of an arc which can be advantageously adapted to the anatomical shape of a person's leg, in particular the thigh. Particularly preferably, the opening radius (R) of the proximal longitudinal side of the first holding element_p) And the opening radius (R) of the distal longitudinal side_d) Differently (i.e. defined by two different radii), in particular in such a way that the holding element has a conical shape, preferably tapering in the distal direction, so that it adapts well to the general anatomical shape of the thigh.

In a further embodiment of the invention, the holding element may preferably be made of a relatively hard material, in particular plastic.

The holding element made of a relatively hard material thus advantageously allows a stable holding of the patient's leg and a controlled transmission of forces distributed over a relatively large surface area from the rehabilitation facility to the patient's leg, in particular the thigh, by the device. The distribution of the applied force over a larger surface area advantageously enhances the training comfort of the user. The use of plastics, in particular plastics or plastic mixtures suitable for industrial production (e.g. plastic injection moulding or 3D printing techniques), advantageously allows for relatively inexpensive production even of different sizes (different lengths, widths, arc radii, etc.), preferably by means of 3D printing. Furthermore, a holding device made of plastic advantageously has a relatively low weight, sufficient strength, robustness and thus durability, and is advantageously easy to clean or sterilize.

It is also preferred that the holding device is at least partially surface treated, in particular surface coated. The surface treatment (in particular surface coating) advantageously improves the simple and rapid cleaning or disinfection of the holding device, so that the holding device can advantageously remain connected to the movement mechanism between successive uses by different users, even in areas with the highest hygiene requirements. It is particularly advantageous if the surface coating comprises a bacteria-reducing substance, in particular silver and/or copper ions, so that the surface coating itself has a bacteria-reducing effect.

In a further preferred embodiment of the invention, the connecting element can be arranged centrally on the upper side of the holding element with respect to the upper side, in particular with respect to the proximal longitudinal side and the distal longitudinal side of the holding element and/or with respect to the transverse side. The central arrangement of the holding device advantageously allows a uniform introduction of force from the movement mechanism to the user's leg.

It has also proven to be advantageous if the holding element has a holder for the fastening device on its upper side. It is particularly advantageous here to provide at least two holders connected directly or indirectly (in particular by fastening means) to the holding element, wherein the holders are designed to be pivotable relative to the longitudinal axis of the holding element and/or the normal of the upper side of the holding element; and/or wherein the holder is designed to be rotatable with respect to a transverse axis of the holding element and/or a normal of an upper side of the holding element. The fixation device connected to the holding element by means of such a holder advantageously takes into account the anatomy of the respective user (different thigh angles/diameters etc.), wherein the device is particularly suitable for adapting to a tapered leg or a tapered thigh by forming a taper of its own and for adapting to a cylindrical leg or a cylindrical thigh by forming a cylinder of its own.

In a further embodiment, it has proven to be advantageous if the fixing device is made of a flexible material and/or has at least one closure. The flexible fastening means advantageously allows a simple and comfortable connection between the user and the holding element or between the user and the device and thus the movement mechanism. In particular, the provision of the closure advantageously allows a user connected to the medical catheter to be easily connected to the device and thus to the movement mechanism. Furthermore, a fixation device designed in this way advantageously allows the flexible material to conform to the user's thigh, which in turn advantageously improves ease of use by allowing force to be transmitted to the user's leg or thigh over a larger surface area. In addition, such a fixing device can advantageously increase the wearing comfort and can also ensure a hygienic separation of the holding element from the user, wherein the fixing device can be held on the user until training or treatment is completed and can advantageously be cleaned or sterilized separately.

Furthermore, in a preferred embodiment the fixation device can be reversibly connected to the holding element by at least one of its lateral sides. A reversible connection may preferably be achieved by the provision of at least one hook and loop closure and/or snap fasteners and/or at least one magnetic closure or the like, and advantageously allows for a simple fastening or unfastening of the device, in particular in view of any medical situation when used by intensive care patients, for example in view of medical catheter connections. Furthermore, the reversible connection advantageously allows the fixing device to be replaced, in particular by another fixing device of a different length and/or of a different type, thus advantageously increasing the adaptability to the respective user.

Embodiments of the invention have proven to be advantageous in that a first spacer element, which preferably corresponds in design to the holding element, in particular to the underside of the holding element, can be arranged on the underside of the holding element and can be reversibly connected directly or indirectly to the holding element by means of at least one connecting device. The first pad element can advantageously improve the wearing comfort and also ensure a hygienic separation of the holding element from the user, wherein the first pad element remains on the user until the training or treatment is finished and can advantageously be cleaned or sterilized separately. Alternatively, the first padding element can also be made of a relatively rigid core (in particular plastic) and a relatively soft covering (in particular silicone or the like).

It is also advantageous if the first gasket member, in particular its connecting means, comprises at least one locking, in particular in the form of a snap and/or magnetic locking. Thus, the first spacer element can be quickly and easily fixed to the holding element and released again from the holding element. In the case of a magnetic lock, a plastic-wrapped flat sticker magnet may preferably be used, which provides hygienic advantages by virtue of the seamless construction it allows.

In a further preferred embodiment, a second, in particular at least partially arc-shaped, spacer element can be arranged on the fixing device. The second pad element can additionally stabilize the user and can advantageously increase the wearing comfort of the user by placing the fixing means to cut into or rub against the thigh or by reducing the pressure load on the underside of the thigh.

It is also advantageous if the second spacer element is movable relative to the longitudinal side of the fixing means and/or is reversibly connected to the fixing means, in particular by a holder which is formed by a guide groove and/or a channel or is designed as a hook-and-loop fastener. This may advantageously improve the adjustability and adaptability of the device to the anatomy of individual users and allow the production of devices with the least possible dimensional variability while covering a larger range of anatomical dimensional relationships.

Finally, embodiments of the invention have proven advantageous in that the first padding element and the second padding element are made completely or partially of an elastic material; wherein the second spacer element may additionally comprise a support element made of a rigid material, in particular plastic, preferably the same plastic as the holding element. The use of elastic material advantageously provides additional padding for the user's legs or thighs, thereby additionally improving wearing comfort. The use of a rigid material advantageously allows a better fixation (dimensional stability) of the second padding element than a simple arrangement thereof on the (flexible) fixation means. Alternatively, the second padding element can also be made of a relatively rigid core (in particular plastic) and a relatively soft covering (in particular silicone or the like).

Further details and further advantages of the invention are described below on the basis of preferred illustrative embodiments and with reference to the drawings, without the invention being restricted to these embodiments.

Schematically showing:

FIG. 1 is a side view of an embodiment of an apparatus according to the present invention;

FIG. 2a is a front view of an embodiment of a retainer for a fixture;

FIG. 2b is a side view of the holder of FIG. 2 a;

FIG. 3a is a cross-sectional view along a longitudinal axis of an embodiment of a retaining element;

FIG. 3b is a top view of the retaining element of FIG. 3 a;

FIG. 4a is a top view of an embodiment of a first spacer element;

FIG. 4b is a side view of the first spacer element of FIG. 4 a; and

fig. 5 is a top view of an embodiment of a second spacer element.

In the following description of the preferred embodiments of the present invention, like reference numerals designate identical or similar parts.

Fig. 1 shows a side view of an embodiment of a device 1 according to the invention. The device 1 according to the invention for connecting a person's leg to a movement mechanism 30 comprises at least one holding element 11 and fixing means 13 for fixing the person's leg to the holding element 11, wherein the holding element 11 has at least one connecting element 111 for connecting the first holding element 11 directly to the movement mechanism 30.

The connecting element 111 may preferably be arranged centrally on the upper side 117 of the holding element 11 with respect to the upper side 117, in particular with respect to the proximal longitudinal side 114 and the distal longitudinal side 115 of the holding element 11 and/or with respect to the transverse side 116. According to the invention, the connecting element 111 is designed in such a way that it allows the retaining element 11 to rotate relative to the longitudinal axis 1111 of the connecting element 111. In the embodiment of the invention shown in fig. 1, the connecting element 111 is designed, for example, as a pin which can be guided through an opening in the holding element 11 and is rotatably mounted on the holding element 11 or is arranged fixedly thereon. The connecting element 111 can be made of plastic, in particular of the same plastic as the holding element 11, but is preferably made of metal, since connecting elements 111 made of metal (in particular metal pins) can withstand greater forces. For a quick connection of the device 1 to the movement mechanism 30 or a quick removal of the device 1 from the movement mechanism 30, the connecting element 111 may furthermore preferably be designed to correspond to a quick-action fastener on the movement mechanism 30.

The holding element 11 can be designed in an at least partially arcuate shape with an arc 119, and the arc 119 opens opposite the extension of the connecting element 11. The arc 119 is formed by two opening radii R_pAnd R_dDefines, among others, the opening radius R of the proximal longitudinal side 114 of the holding element 11_pAnd opening radius R of distal longitudinal side 115_dMay be equal or different. The holding element 11 may be made of a relatively hard material, in particular plastic, which advantageously has sufficient stability to allow a stable holding of the user's leg and to allow a force distribution that is as uniform as possible, while still being flexible enough to ensure that the holding element 11 can be bent to a certain extent and thus additionally can be adapted to the user's leg, in particular the thigh. Furthermore, at least part of the holding element 11 may preferably be surface treated, in particular surface coated.

As can also be seen from fig. 1, the holding element 11 can preferably have a holder 112 for the fixing device 13 on its upper side 117.

Fig. 2a and 2b show an exemplary embodiment of such a holder 112 for a fixing device 13 in a front view (fig. 2a) and in a side view (fig. 2 b). The holder 112 may preferably be made of the same material as the holding element 11 and in a 3D printing method for manufacturing the device 1 according to the invention, and may therefore advantageously be produced together with the holding element 11 and already connected to the holding element 11. As can be seen from fig. 2b, the holder 112 may advantageously be slightly curved so as to slightly protrude from the surface 117 of the holding element 11 when arranged on the surface 117 of the holding element 11. To this end, a slightly curved holder 112 may preferably be connected to the holding element 11 such that the convex surface of the holder 112 is remote from the surface of the holding element 11.

Fig. 3a shows a cross section along the longitudinal axis LA of an embodiment of the holding element 11, and fig. 3b shows a top view of the holding element 11 from fig. 3 a.

As shown in the figures, it is advantageous if at least two holders 112 are provided which are directly or indirectly (in particular by means of fastening means 113) connected to the holding element 11. The holder 112 may be designed to be pivotable relative to the longitudinal axis LA of the holding element 11 and/or the normal N of the upper side 117 of the holding element 11. Alternatively or additionally, the holder 112 may be designed to be rotatable with respect to the transverse axis QA of the holding element 11 and/or the normal N of the upper side 117 of the holding element 11. In fig. 3a and 3b, the flexibility of the two holders 112 shown here is represented by the pivot angles SW1 (fig. 3b) and SW1 (fig. 3 a). Any desired combination of pivoting and/or rotational movements represented by the two pivot angles SW1 and SW2 advantageously creates freedom of movement for each holder 112 in all three spatial directions. In the embodiment of the invention shown here, this mobility is technically achieved by arranging an eyelet-shaped fastening means 113 (which is preferably made of the same material as the holding element 11) on the upper side 117 of the holding element 11, which is advantageously also done during 3D printing of the holding element. Each holder 112 may then preferably have at least one opening designed to correspond to these eyelet-shaped fastening means 113, and through which the holder 112 may be connected to the holding element 11.

In general, a pivotably and/or rotatably mounted holder designed in this way advantageously allows adaptation to the anatomical shape of the user's leg (in particular the thigh), and for example advantageously allows a conical-shaped configuration consisting of the holding element 11 and the fixing means 13. The relatively wide opening radius R of the proximal longitudinal side 114 of the holding element 11_pAnd a relatively narrow opening radius R of the distal longitudinal side 115 of the holding element 11_dParticularly as shown in fig. 3b, a transverse side 116 (clearly visible by comparison with the holder 112) which tapers towards the distal longitudinal side 115 can advantageously support fittingThe formation of a tapered shape of the leg or thigh should be performed and thus the wearing comfort is improved.

The securing means 13 may preferably be formed of a flexible material (e.g. made of a flexible hook and loop tape), thereby simplifying the connection between the user and the holding element 11. Alternatively or in addition, as shown in fig. 1, the fastening device 113 may have at least one closure 131 (preferably a hook-and-loop closure or a magnetic closure), which may further simplify the connection, in particular when the user is a long-term bedridden patient, in particular a comatose patient, who will be mobilized with the aid of the movement mechanism 30. These patients are typically provided with medication via catheters, and these catheters must be considered when connecting the patient to the movement mechanism 30. As shown in fig. 1, the fixation device 13 may preferably be reversibly connected to the holding element 11 by at least one of its lateral sides 132. However, the fastening device 113 can thus also be reversibly connected to the holding element 11 by its two lateral sides 132, preferably by the holder 112, and in particular can have two closures 131.

Furthermore, the first spacer element 14, which preferably corresponds in design to the holding element 11, in particular to the underside 118 of the holding element 11, can be arranged on the underside 118 of the holding element 11 and can be reversibly connected to the holding element 11 either directly or indirectly via at least one connecting device 141.

Fig. 4a and 4b show an exemplary embodiment of the first padding element 14 in a top view (fig. 4a) and in a side view (fig. 4 b). As shown, the first gasket member 14, in particular the connecting means 141 thereof, advantageously comprises at least one locking member 1411, in particular in the form of a snap and/or magnetic locking member.

Fig. 1 also shows that a (in particular at least partially arc-shaped) second spacer element 15 can be arranged on the fixation device 13 and, during use of the device 1, can likewise be arranged substantially axially symmetrically with respect to the longitudinal axis 1111 of the connection element 111, as can the first spacer element 14.

Finally, fig. 5 shows a top view of an embodiment of such a second spacer element 15. It is advantageous here that the second spacer element 15 can be moved relative to the longitudinal side 133 of the fixing means 13 and/or can be reversibly connected to the fixing means 13, in particular by means of a holder 151 which is formed by guide grooves and/or channels or is designed as a hook-and-loop fastener. Furthermore, the first pad element 14 or the second pad element 15 may advantageously be made entirely or partially of an elastic material; wherein the second spacer element 15 may additionally comprise a support element 152 made of a rigid material, in particular a plastic, preferably the same plastic as the holding element 11. As can be seen in particular from fig. 4b, the first 14 and second 15 pad elements may finally have rounded edges to further improve the wearing comfort.

The device 1 according to the invention advantageously allows a simple and quick connection between the user and the device 1, and between the device 1 and the movement mechanism 30 together with the user. The device is easy to operate by third parties and the user himself, easy to clean and disinfect, and provides a high level of wearing comfort for the user. The device 1 according to the invention also ensures a controlled transmission of the movement from the movement mechanism 30, in particular to the user's leg, and furthermore can be manufactured cost-effectively.

REFERENCE SIGNS LIST

1 apparatus

11 holding element

111 connecting element

1111 longitudinal axis of connecting element 111

112 holder for fixing device 13

113 fastening device for a holder 112

114 holding the proximal longitudinal side of the element 11

115 distal longitudinal side of retaining element 11

116 holding the lateral sides of the element 11

117 hold the upper side of the element 11

118 hold the underside of the element 11

119 arc shape

13 fixing device

131 closure

132 lateral sides of the fixing device 13

133 fixing the longitudinal side 14 first spacer element of the device 13

141 connecting device

1411 locking piece

142 surface

143 longitudinal sides of the first pad member 14

144 lateral sides of the first spacer element 14

15 second spacer element

151 holder for fixing device 13

152 support element for the second spacer element

30 movement mechanism

Longitudinal axis of LA device 1

Transverse axis of QA device 1

Normal to upper side 116 of N holding element 11

R_pOpening radius of proximal longitudinal side 114 of retaining element 11

R_dOpening radius of the distal longitudinal side 115 of the holding element 11

SW1 first pivot angle

SW2 second pivot angle

Claims

1. A device (1) for connecting a person's leg to a movement mechanism (30), said device (1) comprising at least:

a holding element (11) for holding the holding element,

wherein the holding element (11) has at least one connecting element (111), the connecting element (111) being used to connect the holding element (11) directly to the movement mechanism (30),

a fixing device (13) for fixing a person's leg to the holding element (11);

it is characterized in that the preparation method is characterized in that,

the connecting element (111) is designed to allow a rotation of the holding element (11) relative to a longitudinal axis (1111) of the connecting element (111).

2. Device (1) according to claim 1, characterized in that the holding element (11) is designed in an at least partially arc-shaped form with an arc (119), the arc (119) being opposite to the extension of the connecting element (11)Open, wherein the opening radii (R) of the proximal longitudinal side (114) and the distal longitudinal side (115) of the holding element (11)_p；R_d) May be equal or different.

3. Device (1) according to claim 1 or 2, characterized in that the holding element (11) is made of a relatively hard material, in particular plastic.

4. Device (1) according to any one of claims 1 to 3, characterized in that the holding element (11) is at least partially surface-treated, in particular surface-coated.

5. Device (1) according to one or more of the preceding claims, characterized by the fact that said connection element (111) is arranged centrally on the upper side (117) of the retaining element (11) with respect to the upper side (117) of the retaining element (11), in particular with respect to the proximal longitudinal side (114) and the distal longitudinal side (115) and/or the transversal side (116) of the retaining element (11).

6. Device (1) according to one or more of the preceding claims, characterized in that the connecting element (111) is designed as a pin which is preferably guided through an opening in the holding element (11) and is rotatably mounted on the holding element (11) or fixedly arranged thereon.

7. Device (1) according to one or more of the preceding claims, characterized by the fact that the retaining element (11) has, on the upper side (117), a holder (112) for the fixing device (13).

8. Device (1) according to claim 7, characterized in that at least two holders (112) are provided, which holders (112) are connected to the holding element (11) directly or indirectly, in particular by means of fastening means (113),

-wherein the holder (112) is designed pivotable with respect to a Longitudinal Axis (LA) of the holding element (11) and/or a normal (N) of an upper side (117) of the holding element (11); and/or

-wherein the holder (112) is designed to be rotatable with respect to a transverse axis (QA) of the holding element (11) and/or a normal (N) of an upper side (117) of the holding element (11).

9. Device (1) according to one or more of the preceding claims, characterized by the fact that said fixing means (13) are made of flexible material and/or have at least one closure (131).

10. Device (1) according to one or more of the preceding claims, characterized by the fact that said fixing means (13) are reversibly connected to the retaining element (11) by at least one of its lateral sides (132).

11. The device (1) according to one or more of the preceding claims, characterized in that a first spacer element (14) which preferably corresponds in design to the holding element (11), in particular to the underside (118) of the holding element (11), can be arranged on the underside (118) of the holding element (11) and can be reversibly connected to the holding element (11) either directly or indirectly by means of at least one connecting device (141).

12. Device (1) according to claim 11, characterized in that the first gasket element (14), in particular the connecting means (141) thereof, comprises at least one locking (1411), in particular a snap-type and/or magnetic locking.

13. Device (1) according to one or more of the preceding claims, characterized in that a second padding element (15), in particular at least partially arc-shaped, is arranged on the fixing means (13).

14. Device (1) according to claim 13, characterized in that the second padding element (15) is movable relative to the longitudinal side (133) of the fixing means (13) and/or reversibly connectable to the fixing means (13), in particular by means of a holder (151) constituted by a guide groove and/or a channel or a holder (151) designed as a hook-and-loop fastener.

15. Device (1) according to claim 13 or 14, characterized in that the first (14) or second (15) spacer element

-made wholly or partly of an elastic material; wherein

-the second padding element (15) may additionally comprise a support element (152), said support element (152) being made of a rigid material, in particular plastic, preferably the same plastic as the retaining element (11).